Galil DMC-4040 - Page 7

Interrogation Commands .......................................................... 162
Formatting Variables and Array Elements ............................... 163
Converting to User Units .......................................................... 164
Hardware I/O ................................................................................................................ 164
Digital Outputs .......................................................................... 164
Digital Inputs ............................................................................ 165
The Auxiliary Encoder Inputs ................................................... 166
Input Interrupt Function ............................................................ 166
Analog Inputs ............................................................................ 167
Extended I/O of the DMC-40x0 Controller ................................................................. 168
Configuring the I/O of the DMC-40x0 ..................................... 168
Saving the State of the Outputs in Non-Volatile Memory ........ 168
Accessing Extended I/O ............................................................ 169
Example Applications ................................................................................................... 169
Wire Cutter ................................................................................ 169
X-Y Table Controller ................................................................ 170
Speed Control by Joystick ........................................................ 173
Position Control by Joystick ..................................................... 174
Backlash Compensation by Sampled Dual-Loop ..................... 174
Chapter 8 Hardware & Software Protection 177
Introduction ................................................................................................................... 177
Hardware Protection ..................................................................................................... 177
Output Protection Lines ............................................................ 177
Input Protection Lines ............................................................... 178
Software Protection ....................................................................................................... 178
Programmable Position Limits ................................................. 179
Off-On-Error ............................................................................. 179
Automatic Error Routine ........................................................... 179
Limit Switch Routine ................................................................ 180
Chapter 9 Troubleshooting 181
Overview ....................................................................................................................... 181
Installation ..................................................................................................................... 181
Stability ......................................................................................................................... 182
Operation ....................................................................................................................... 182
Chapter 10 Theory of Operation 183
Overview ....................................................................................................................... 183
Operation of Closed-Loop Systems .............................................................................. 185
System Modeling .......................................................................................................... 186
Motor-Amplifier ....................................................................... 187
Encoder ..................................................................................... 189
DAC .......................................................................................... 189
Digital Filter .............................................................................. 190
ZOH .......................................................................................... 191
System Analysis ............................................................................................................ 191
System Design and Compensation ................................................................................ 193
The Analytical Method ............................................................. 193
Appendices 197
Electrical Specifications ................................................................................................ 197
Servo Control ............................................................................ 197
Stepper Control ......................................................................... 197
Input / Output ............................................................................ 197
Power Requirements ................................................................. 198
Max Power Output .................................................................... 198
Performance Specifications .......................................................................................... 199
Minimum Servo Loop Update Time: ........................................ 199
Fast Update Rate Mode ................................................................................................ 200
Ordering Options for the DMC-40x0 ........................................................................... 201
Overview ................................................................................... 201
DMC-40x0 Controller Board Options ...................................... 201
CMB Communication Board Options ...................................... 202
ICM Interconnect Board Options .............................................. 202
AMP Internal Amplifier Options .............................................. 204
DMC-40x0 Contents • vi